OpenRaiser/Intern-Atlas huggingface dataset:
NeoLightning: A Modern Reimagination of Gesture-Based Sound Design
Venue: arXiv cs.HC 2025
Year: 2025

This paper introduces NeoLightning, a modern reinterpretation of the Buchla Lightning. NeoLightning preserves the innovative spirit of Don Buchla's "Buchla Lightning" (introduced in the 1990s) while making its gesture-based interaction accessible to contemporary users. While the original Buchla Lightning and many other historical instruments were groundbreaking in their time, they are now largely unsupported, limiting user interaction to indirect experiences. To address this, NeoLightning leverages MediaPipe for deep learning-based gesture recognition and employs Max/MSP and Processing for real-time multimedia processing. The redesigned system offers precise, low-latency gesture recognition and immersive 3D interaction. By merging the creative spirit of the original Lightning with modern advancements, NeoLightning redefines gesture-based musical interaction, expanding possibilities for expressive performance and interactive sound design.
Predicting Human Behavior in Autonomous Systems: A Collaborative Machine Teaching Approach for Reducing Transfer of Control Events
Venue: arXiv cs.RO 2025
Year: 2025

As autonomous systems become integral to various industries, effective strategies for fault handling are essential to ensure reliability and efficiency. Transfer of Control (ToC), a traditional approach for interrupting automated processes during faults, is often triggered unnecessarily in non-critical situations. To address this, we propose a data-driven method that uses human interaction data to train AI models capable of preemptively identifying and addressing issues or assisting users in resolution. Using an interactive tool simulating an industrial vacuum cleaner, we collected data and developed an LSTM-based model to predict user behavior. Our findings reveal that even data from non-experts can effectively train models to reduce unnecessary ToC events, enhancing the system's robustness. This approach highlights the potential of AI to learn directly from human problem-solving behaviors, complementing sensor data to improve industrial automation and human-AI collaboration.
Asymptotically-Optimal Gaussian Bandits with Side Observations
Venue: arXiv cs.LG 2025
Year: 2025

We study the problem of Gaussian bandits with general side information, as first introduced by Wu, Szepesvari, and Gyorgy. In this setting, the play of an arm reveals information about other arms, according to an arbitrary a priori known side information matrix: each element of this matrix encodes the fidelity of the information that the ``row'' arm reveals about the ``column'' arm. In the case of Gaussian noise, this model subsumes standard bandits, full-feedback, and graph-structured feedback as special cases. In this work, we first construct an LP-based asymptotic instance-dependent lower bound on the regret. The LP optimizes the cost (regret) required to reliably estimate the suboptimality gap of each arm. This LP lower bound motivates our main contribution: the first known asymptotically optimal algorithm for this general setting.
Clustering Rooftop PV Systems via Probabilistic Embeddings
Venue: arXiv cs.LG 2025
Year: 2025

As the number of rooftop photovoltaic (PV) installations increases, aggregators and system operators are required to monitor and analyze these systems, raising the challenge of integration and management of large, spatially distributed time-series data that are both high-dimensional and affected by missing values. In this work, a probabilistic entity embedding-based clustering framework is proposed to address these problems. This method encodes each PV system's characteristic power generation patterns and uncertainty as a probability distribution, then groups systems by their statistical distances and agglomerative clustering. Applied to a multi-year residential PV dataset, it produces concise, uncertainty-aware cluster profiles that outperform a physics-based baseline in representativeness and robustness, and support reliable missing-value imputation. A systematic hyperparameter study further offers practical guidance for balancing model performance and robustness.
Inquisitive Team Semantics of LTL
Venue: arXiv cs.LO 2025
Year: 2025

In this paper, we introduce a novel team semantics of LTL inspired by inquisitive logic. The main features of the resulting logic, we call InqLTL, are the intuitionistic interpretation of implication and the Boolean semantics of disjunction. We show that InqLTL with Boolean negation is highly undecidable and strictly less expressive than TeamLTL with Boolean negation. On the positive side, we identify a meaningful fragment of InqLTL with a decidable model-checking problem which can express relevant classes of hyperproperties. To the best of our knowledge, this fragment represents the first hyper logic with a decidable model-checking problem which allows unrestricted use of temporal modalities and universal second-order quantification over traces.
Code-Driven Planning in Grid Worlds with Large Language Models
Venue: arXiv cs.AI 2025
Year: 2025

We propose an iterative programmatic planning (IPP) framework for solving grid-based tasks by synthesizing interpretable agent policies expressed in code using large language models (LLMs). Instead of relying on traditional search or reinforcement learning, our approach uses code generation as policy synthesis, where the LLM outputs executable programs that map environment states to action sequences. Our proposed architecture incorporates several prompting strategies, including direct code generation, pseudocode-conditioned refinement, and curriculum-based prompting, but also includes an iterative refinement mechanism that updates code based on task performance feedback. We evaluate our approach using six leading LLMs and two challenging grid-based benchmarks (GRASP and MiniGrid). Our IPP framework demonstrates improvements over direct code generation ranging from 10\% to as much as 10x across five of the six models and establishes a new state-of-the-art result for GRASP. IPP is found to significantly outperform direct elicitation of a solution from GPT-o3-mini (by 63\% on MiniGrid to 116\% on GRASP), demonstrating the viability of the overall approach. Computational costs of all code generation approaches are similar. While code generation has a higher initial prompting cost compared to direct solution elicitation (\$0.08 per task vs. \$0.002 per instance for GPT-o3-mini), the code can be reused for any number of instances, making the amortized cost significantly lower (by 400x on GPT-o3-mini across the complete GRASP benchmark).
Procedural Generation of Articulated Simulation-Ready Assets
Venue: arXiv cs.RO 2025
Year: 2025

We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 common articulated object categories along with high-level utilities for use creating custom articulated assets in Blender. We also provide an export pipeline to integrate the resulting assets along with their physical properties into common robotics simulators. Experiments demonstrate that assets sampled from these generators are effective for movable object segmentation, training generalizable reinforcement learning policies, and sim-to-real transfer of imitation learning policies.
Random Client Selection on Contrastive Federated Learning for Tabular Data
Venue: arXiv cs.LG 2025
Year: 2025

Vertical Federated Learning (VFL) has revolutionised collaborative machine learning by enabling privacy-preserving model training across multiple parties. However, it remains vulnerable to information leakage during intermediate computation sharing. While Contrastive Federated Learning (CFL) was introduced to mitigate these privacy concerns through representation learning, it still faces challenges from gradient-based attacks. This paper presents a comprehensive experimental analysis of gradient-based attacks in CFL environments and evaluates random client selection as a defensive strategy. Through extensive experimentation, we demonstrate that random client selection proves particularly effective in defending against gradient attacks in the CFL network. Our findings provide valuable insights for implementing robust security measures in contrastive federated learning systems, contributing to the development of more secure collaborative learning frameworks
Pipelining Kruskal's: A Neuromorphic Approach for Minimum Spanning Tree
Venue: arXiv cs.ET 2025
Year: 2025

Neuromorphic computing, characterized by its event-driven computation and massive parallelism, is particularly effective for handling data-intensive tasks in low-power environments, such as computing the minimum spanning tree (MST) for large-scale graphs. The introduction of dynamic synaptic modifications provides new design opportunities for neuromorphic algorithms. Building on this foundation, we propose an SNN-based union-sort routine and a pipelined version of Kruskal's algorithm for MST computation. The event-driven nature of our method allows for the concurrent execution of two completely decoupled stages: neuromorphic sorting and union-find. Our approach demonstrates superior performance compared to state-of-the-art Prim 's-based methods on large-scale graphs from the DIMACS10 dataset, achieving speedups by 269.67x to 1283.80x, with a median speedup of 540.76x. We further evaluate the pipelined implementation against two serial variants of Kruskal's algorithm, which rely on neuromorphic sorting and neuromorphic radix sort, showing significant performance advantages in most scenarios.
EdgeMM: Multi-Core CPU with Heterogeneous AI-Extension and Activation-aware Weight Pruning for Multimodal LLMs at Edge
Venue: arXiv cs.AR 2025
Year: 2025

Emerging multimodal LLMs (MLLMs) exhibit strong cross-modality perception and reasoning capabilities and hold great potential for various applications at edge. However, MLLMs typically consist of a compute-intensive modality encoder and a memory-bound LLM decoder, leading to distinct bottlenecks for hardware designs. In this work, we present a multi-core CPU solution with heterogeneous AI extensions, which are based on either the compute-centric systolic array or memory-centric digital compute-in-memory (CIM) co-processors. In addition, dynamic activation-aware weight pruning and bandwidth management are developed to enhance bandwidth efficiency and core utilization, improving overall performance. We implemented our solution using commercial 22nm technology. For representative MLLMs, our evaluations show EdgeMM can achieve 2.84x performance speedup compared to laptop 3060 GPU.
Bandwidth vs BFS Width in Matrix Reordering, Graph Reconstruction, and Graph Drawing
Venue: arXiv cs.DS 2025
Year: 2025

We provide the first approximation quality guarantees for the Cuthull-McKee heuristic for reordering symmetric matrices to have low bandwidth, and we provide an algorithm for reconstructing bounded-bandwidth graphs from distance oracles with near-linear query complexity. To prove these results we introduce a new width parameter, BFS width, and we prove polylogarithmic upper and lower bounds on the BFS width of graphs of bounded bandwidth. Unlike other width parameters, such as bandwidth, pathwidth, and treewidth, BFS width can easily be computed in polynomial time. Bounded BFS width implies bounded bandwidth, pathwidth, and treewidth, which in turn imply fixed-parameter tractable algorithms for many problems that are NP-hard for general graphs. In addition to their applications to matrix ordering, we also provide applications of BFS width to graph reconstruction, to reconstruct graphs from distance queries, and graph drawing, to construct arc diagrams of small height.
Attention-Based Reward Shaping for Sparse and Delayed Rewards
Venue: arXiv cs.LG 2025
Year: 2025

Sparse and delayed reward functions pose a significant obstacle for real-world Reinforcement Learning (RL) applications. In this work, we propose Attention-based REward Shaping (ARES), a general and robust algorithm which uses a transformer's attention mechanism to generate shaped rewards and create a dense reward function for any environment. ARES requires a set of episodes and their final returns as input. It can be trained entirely offline and is able to generate meaningful shaped rewards even when using small datasets or episodes produced by agents taking random actions. ARES is compatible with any RL algorithm and can handle any level of reward sparsity. In our experiments, we focus on the most challenging case where rewards are fully delayed until the end of each episode. We evaluate ARES across a diverse range of environments, widely used RL algorithms, and baseline methods to assess the effectiveness of the shaped rewards it produces. Our results show that ARES can significantly improve learning in delayed reward settings, enabling RL agents to train in scenarios that would otherwise require impractical amounts of data or even be unlearnable. To our knowledge, ARES is the first approach that works fully offline, remains robust to extreme reward delays and low-quality data, and is not limited to goal-based tasks.
MoCLIP: Motion-Aware Fine-Tuning and Distillation of CLIP for Human Motion Generation
Venue: arXiv cs.CV 2025
Year: 2025

Human motion generation is essential for fields such as animation, robotics, and virtual reality, requiring models that effectively capture motion dynamics from text descriptions. Existing approaches often rely on Contrastive Language-Image Pretraining (CLIP)-based text encoders, but their training on text-image pairs constrains their ability to understand temporal and kinematic structures inherent in motion and motion generation. This work introduces MoCLIP, a fine-tuned CLIP model with an additional motion encoding head, trained on motion sequences using contrastive learning and tethering loss. By explicitly incorporating motion-aware representations, MoCLIP enhances motion fidelity while remaining compatible with existing CLIP-based pipelines and seamlessly integrating into various CLIP-based methods. Experiments demonstrate that MoCLIP improves Top-1, Top-2, and Top-3 accuracy while maintaining competitive FID, leading to improved text-to-motion alignment results. These results highlight MoCLIP's versatility and effectiveness, establishing it as a robust framework for enhancing motion generation.
Textured mesh Quality Assessment using Geometry and Color Field Similarity
Venue: arXiv cs.GR 2025
Year: 2025

Textured mesh quality assessment (TMQA) is critical for various 3D mesh applications. However, existing TMQA methods often struggle to provide accurate and robust evaluations. Motivated by the effectiveness of fields in representing both 3D geometry and color information, we propose a novel point-based TMQA method called field mesh quality metric (FMQM). FMQM utilizes signed distance fields and a newly proposed color field named nearest surface point color field to realize effective mesh feature description. Four features related to visual perception are extracted from the geometry and color fields: geometry similarity, geometry gradient similarity, space color distribution similarity, and space color gradient similarity. Experimental results on three benchmark datasets demonstrate that FMQM outperforms state-of-the-art (SOTA) TMQA metrics. Furthermore, FMQM exhibits low computational complexity, making it a practical and efficient solution for real-world applications in 3D graphics and visualization. Our code is publicly available at: https://github.com/yyyykf/FMQM.
Improve Rule Retrieval and Reasoning with Self-Induction and Relevance ReEstimate
Venue: arXiv cs.CL 2025
Year: 2025

This paper systematically addresses the challenges of rule retrieval, a crucial yet underexplored area. Vanilla retrieval methods using sparse or dense retrievers to directly search for relevant rules to support downstream reasoning, often suffer from low accuracy. This is primarily due to a significant semantic gap between the instantiated facts in the queries and the abstract representations of the rules. Such misalignment results in suboptimal retrieval quality, which in turn negatively impacts reasoning performance. To overcome these challenges, we propose Self-Induction Augmented Retrieval (SIAR), a novel approach that utilizes Large Language Models (LLMs) to induce potential inferential rules that might offer benefits for reasoning by abstracting the underlying knowledge and logical structure in queries. These induced rules are then used for query augmentation to improve retrieval effectiveness. Additionally, we introduce Rule Relevance ReEstimate (R$^3$), a method that re-estimates the relevance of retrieved rules by assessing whether the abstract knowledge they contain can be instantiated to align with the facts in the queries and the helpfulness for reasoning. Extensive experiments across various settings demonstrate the effectiveness and versatility of our proposed methods.
Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
Venue: arXiv cs.RO 2025
Year: 2025

Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that enable dexterous manipulation through contact reasoning where not all contacts are well characterized by classical rigid body contact models. Here, we consider the case of a deforming tool dexterously manipulating a rigid object. We propose a hybrid learning and first-principles approach to the modeling of simultaneous motion and force transfer of tools and objects. The learned module is responsible for jointly estimating the rigid object's motion and the deformable tool's imparted contact forces. We then propose a Contact Quadratic Program to recover forces between the environment and object subject to quasi-static equilibrium and Coulomb friction. The results is a system capable of modeling both intrinsic and extrinsic motions, contacts, and forces during dexterous deformable manipulation. We train our method in simulation and show that our method outperforms baselines under varying block geometries and physical properties, during pushing and pivoting manipulations, and demonstrate transfer to real world interactions. Video results can be found at https://deform-rigid-contact.github.io/.
ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations
Venue: arXiv cs.RO 2025
Year: 2025

We introduce ReWiND, a framework for learning robot manipulation tasks solely from language instructions without per-task demonstrations. Standard reinforcement learning (RL) and imitation learning methods require expert supervision through human-designed reward functions or demonstrations for every new task. In contrast, ReWiND starts from a small demonstration dataset to learn: (1) a data-efficient, language-conditioned reward function that labels the dataset with rewards, and (2) a language-conditioned policy pre-trained with offline RL using these rewards. Given an unseen task variation, ReWiND fine-tunes the pre-trained policy using the learned reward function, requiring minimal online interaction. We show that ReWiND's reward model generalizes effectively to unseen tasks, outperforming baselines by up to 2.4x in reward generalization and policy alignment metrics. Finally, we demonstrate that ReWiND enables sample-efficient adaptation to new tasks, beating baselines by 2x in simulation and improving real-world pretrained bimanual policies by 5x, taking a step towards scalable, real-world robot learning. See website at https://rewind-reward.github.io/.
VISTA: Enhancing Vision-Text Alignment in MLLMs via Cross-Modal Mutual Information Maximization
Venue: arXiv cs.CV 2025
Year: 2025

Current multimodal large language models (MLLMs) face a critical challenge in modality alignment, often exhibiting a bias towards textual information at the expense of other modalities like vision. This paper conducts a systematic information-theoretic analysis of the widely used cross-entropy loss in MLLMs, uncovering its implicit alignment objective. Our theoretical investigation reveals that this implicit objective has inherent limitations, leading to a degradation of cross-modal alignment as text sequence length increases, thereby hindering effective multimodal information fusion. To overcome these drawbacks, we propose Vision-Text Alignment (VISTA), a novel approach guided by our theoretical insights. VISTA introduces an explicit alignment objective designed to maximize cross-modal mutual information, preventing the degradation of visual alignment. Notably, VISTA enhances the visual understanding capabilities of existing MLLMs without requiring any additional trainable modules or extra training data, making it both efficient and practical. Our method significantly outperforms baseline models across more than a dozen benchmark datasets, including VQAv2, MMStar, and MME, paving the way for new directions in MLLM modal alignment research.
Enforced Interface Constraints for Domain Decomposition Method of Discrete Physics-Informed Neural Networks
Venue: arXiv cs.CE 2025
Year: 2025

This study presents a discrete physics-informed neural network (dPINN) framework, enhanced with enforced interface constraints (EIC), for modeling physical systems using the domain decomposition method (DDM). Built upon finite element-style mesh discretization, the dPINN accurately evaluates system energy through Gaussian quadrature-based element-wise integration. To ensure physical field continuity across subdomain interfaces, the EIC mechanism enforces interfacial displacement constraints without requiring auxiliary sampling or loss penalties.This formulation supports independent meshing in each subdomain, simplifying preprocessing and improving computational flexibility. Additionally, by eliminating the influence of weak spatial constraints (WSC) commonly observed in traditional PINNs, the EIC-dPINN delivers more stable and physically consistent predictions.Extensive two- and three-dimensional numerical experiments validate the proposed framework's accuracy and demonstrate the computational efficiency gains achieved through parallel training. The results highlight the framework's scalability, robustness, and potential for solving large-scale, geometrically complex problems.
Towards an open geotechnical data platform in France
Venue: arXiv cs.IT 2025
Year: 2025

An important quantity of geotechnical data is constantly collected for all the new projects of civil engineering. This data includes generally core and destructive boreholes, in which samples are taken for laboratory testing and in situ geotechnical tests are performed. The density of geotechnical data is particularly high in urban areas. The data is collected by geotechnical engineering or drilling Companies for public or private owners. Data is essential to define the geotechnical conditions of a project and are obviously necessary for the geotechnical design of foundations or underground structures. However, most of the time, data is not accessible in a numerical format, and at the end of the project, is often forgotten, while it could be reused for neighbouring projects. It is a great loss of information and knowledge to the technical and scientific geosciences community, and it represents a significant cost for the country economy. In France, the BRGM (French geological survey office) is currently developing a new open access platform dedicated to the capitalization and accessibility of geotechnical data, compliant with the FAIR principles (Findable, Accessible, Interoperable and Reusable). This paper describes the challenges to overcome and the possible solutions, considering the high diversity of geotechnical tests, explains the need of keeping the exhaustive data set for each test, and describes the next stages of development.